Does anyone know of a beaglebone cape with IMU capabilities that is still in production? I have found plenty that seem to be end-of-life.
The Robotics Cape has an IMU on it along with a bunch of other robotic related features.
Slightly off-topic, but it may be more appropriate for some applications: there is an IMU (BNO055) for which there exists a Linux library. This IMU can be connected to the BeagleBone over I2C:
https://github.com/theleadingzero/belaonurhead/tree/master/lib
There are also several IMU drivers in the mainline linux kernel
https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/iio/imu?h=v4.14